Intermittent Impedance Control Model for Human Upright Standing

摘要

A novel approach to modeling human standing posture control is proposed. The model is based on the classic impedance control concept and considers intermittency in the control law. We used a 1-Dofinverted pendulum as an equivalent dynamical model for human body during upright standing. The results show that the proposed model has a better performance in terms of stability and robustness, compared to the impedance control approach.